Research on sonar-based map building approach for mobile robot
基于声纳传感器的移动机器人地图创建方法研究

This paper presented a new map building method using sonar data. Utilized Bayes' rule to estimate the probability that an occupancy grid being occupied and to deal with sonar information fusion which highly overcame the uncertainty. Also updated the global map from local map using Bayes' rules. Experimental results indicate the feasibility and validity of this approach.